Derivation of damping control parameters based on geometric model
Derivation of damping control parameters based on geometric model
复制标题
基于几何模型的阻尼控制参数推导
DOI：
10.1109/robot.1993.292129
复制
发表时间：
1993
期刊：
影响因子：
--
通讯作者：
K. Iwata
中科院分区：
文献类型：
--
作者：
S. Hirai;K. Iwata
提出了一种基于模型的阻尼控制参数生成方法。通过阻尼控制，机器人可以根据作用在其上的反作用力来调整其运动，从而实现操作。必须确定表征机器人实际运动的导纳矩阵。从零件相互接触的角度出发，分析了零件配合工序导纳矩阵的解析推导方法。分析了各接触状态下的运动和静态特性。给出了零件配合操作成功的条件。提出了一种系统的计算导纳矩阵的方法，可以消除定位误差。用一个简单的例子说明了导纳矩阵的计算过程
A model-based approach to the generation of control parameters for damping control is presented. Applying damping control, a robot can modify its motion according to reaction forces acting on it in order to achieve an operation. An admittance matrix, which characterizes the actual robot motion, must be determined. An analytical method to derive admittance matrices for part-mating operations is analyzed with regard to how the workpieces contact each other. Kinematic and static properties at each contact state are also analyzed. The condition for successful part-mating operations is formulated. A systematic method is developed to compute admittance matrices that can eliminate positioning errors. A simple example is shown to demonstrate the computation process of admittance matrices.<<ETX>>